CN104670354B - The ball shape robot that a kind of gear car drives - Google Patents
The ball shape robot that a kind of gear car drives Download PDFInfo
- Publication number
- CN104670354B CN104670354B CN201410838296.4A CN201410838296A CN104670354B CN 104670354 B CN104670354 B CN 104670354B CN 201410838296 A CN201410838296 A CN 201410838296A CN 104670354 B CN104670354 B CN 104670354B
- Authority
- CN
- China
- Prior art keywords
- gear
- assembly
- drives
- spheroid
- main shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
For solving the moment problems of too that general ball shape robot gravity bob drives, also for solving the driving of general ball shape robot dolly easily at sphere inner wall slippage problems, the present invention proposes the ball shape robot that a kind of gear car drives, and by spheroid, linear drives gear car assembly, turns to driving lead screw assembly, hollow main shaft assembly four part to form；Wherein, hollow main shaft assembly is connected with spheroid by two rolling bearings, counterweight platform in linear drives gear car assembly is connected on hollow main shaft assembly, gear driver part in linear drives gear car assembly is installed on below counterweight platform, linear drives gear engages with ring gear, ring gear is connected with spheroid, turns to driving lead screw assembly to be connected with hollow main shaft assembly.
Description
Technical field
The present invention relates to the ball shape robot that a kind of gear car drives, belong to the research field of specialized robot.
Background technology
Ball shape robot is carrying equipment and driving means to be sealed in the spheroid with certain rigidity, utilizes
Internal drive and spheroid outer friction power and the specialized robot that moves.Owing to driving means and equipment are close
It is enclosed in spheroid, enables ball shape robot normally to work under adverse circumstances and special operation condition.Use
Drive dolly, by contacting the spherical machine of the frictional force drives ball shape robot motion produced with sphere inner wall
People, but the defect of this drive form is to drive dolly easily to skid at sphere inner wall, it is impossible to realize accurately driving
Dynamic.It addition, used the ball shape robot that gravity bob drives, driving moment is big, and transmission efficiency is low.
Both at home and abroad a series of research is expanded for ball shape robot at present, but there is the product of practical through engineering approaches
The most fewer, in the spheroid have a problem in that the limited space in sealed spheroid, shape are special, sealing and rolling
It is not easy to carry external equipment etc..
Summary of the invention
For solving the moment problems of too that general ball shape robot gravity bob drives, also for solving general spherical machine
Device people's dolly drives easily at sphere inner wall slippage problems, and the present invention proposes the spherical of a kind of gear car driving
Robot.
The present invention is achieved through the following technical solutions:
The ball shape robot that a kind of gear car drives, by spheroid, linear drives gear car assembly, turns to driving
Lead screw assembly, hollow main shaft assembly four part form；Wherein, hollow main shaft assembly passes through two rolling bearings
Being connected with spheroid, the counterweight platform in linear drives gear car assembly is connected on hollow main shaft assembly, straight line
Driving the gear driver part in gear car assembly to be installed on below counterweight platform, linear drives gear is with interior
Gear ring engages, and ring gear is connected with spheroid, turns to driving lead screw assembly to be connected with hollow main shaft assembly.
Wherein said spheroid is made up of upper and lower two hemisphere, and two hemisphere by boss and groove fit and lead to
Cross screw to be fixed together, form an airtight spheroid, spheroid has the draw-in groove installing rolling bearing,
For installing two rolling bearings needed for hollow main shaft assembly.
Wherein said linear drives gear car assembly by DC servo motor A, drive gear, counterweight platform,
Vehicle frame, drive shaft, rolling bearing A, bearing (ball) cover A, sealing ring A, motor mounting flange A, ring gear
Composition；Described DC servo motor A is fixed on the side of vehicle frame by motor mounting flange A, and direct current is watched
Taking motor A drives drive shaft to rotate by output shaft, and drive shaft is provided with driving gear and by two rollings
Bearing A is connected with vehicle frame, and drive shaft rotates and drives driving gear rotate and engage with ring gear, thus real
Existing gear car moves at sphere inner wall.
Wherein said turn to driving lead screw assembly by DC servo motor B, leading screw, turn to drive block, turn to
Frame, rolling bearing B, bearing (ball) cover B, sealing ring B, motor mounting flange B form；Described direct current is watched
Taking motor B and be fixed on the side of bogie by motor mounting flange B, DC servo motor B is by output
Axle drives leading screw to rotate, and leading screw is provided with and turns to drive block and be connected with bogie by rolling bearing B,
Leading screw rotates and engages with drive block, thus realizes drive block and move in spheroid.
Wherein said hollow main shaft assembly is by hollow main shaft, rolling bearing C, bearing (ball) cover C, sealing ring C
Composition.
In counterweight platform in linear drives gear car assembly of the present invention, equipped with control module, battery module,
Reception of wireless signals module, motor drive module, counterweight module.
The ball shape robot that gear car of the present invention drives, has the advantage that
1, use gear car to drive, and accurately engage with the ring gear of tandem tracks, it is to avoid one
As drive the skidding between dolly and ball inwall.
2, the gear car that seesaws drives and divertical motion leading screw drives, and has gear ratio accurately, speed control
System is accurately.
3, hollow main shaft is used, convenient for carrying mechanical arm and external equipment offer mechanical interface.
4, driving and turn to driving two set to drive assembly before and after using, both drives version to reduce and drives
Kinetic moment, solves the ball shape robot driving moment problems of too that general gravity bob drives.
5, linear motion component and divertical motion assembly are connected with hollow main shaft, make robot under gravity
When stable, spheroid keeps fixing attitude, carries mechanical arm for robot and external equipment provides convenient.
Accompanying drawing explanation
The overall structure figure of the ball shape robot of Fig. 1 present invention；
Spheroid figure in Fig. 2 present invention；
Fig. 3 cathetus of the present invention drives gear car assembly；
Fig. 4 present invention turns to driving lead screw assembly；
Hollow main shaft assembly in Fig. 5 present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Figure 1, the present invention is the ball shape robot that a kind of gear car drives, by spheroid 1, hollow
Spindle assemblies 2, turn to driving lead screw assembly 3, linear drives gear car assembly 4 etc. four part composition.
Shown in Figure 2, spheroid 1 of the present invention is made up of episphere 5 and 6 two hemisphere of lower semisphere, and two
Individual hemisphere is fixed together with groove fit and by screw by boss, forms an airtight spheroid.?
There is the draw-in groove of bearing needed for two installation main shafts, for installing two rolling bearings on spheroid.
Shown in Figure 3, linear drives gear car assembly 4 of the present invention, counterweight platform 7, motor install
Flange A8, DC servo motor A 9, sealing ring A 10, bearing (ball) cover A 11, drive shaft 12, driving tooth
Wheel 13, ring gear 14, vehicle frame lid 15, rolling bearing A 16, vehicle-frame seat 17, counterweight and electrical equipment 18
Deng composition.DC servo motor A 9 is fixed on the side of vehicle frame 15,17 by motor mounting flange A 8,
Motor A 9 drives drive shaft 12 to rotate by output shaft, and drive shaft 12 is provided with driving gear 13 and passes through
Rolling bearing A 16 is connected with vehicle frame 15,17, drive shaft 12 rotate and drive driving gear 13 rotate and
Engage with ring gear 14, thus driven gear car moves at sphere inner wall, it is achieved robot tandem motion.
Shown in Figure 4, the present invention turns to driving lead screw assembly 3, by DC servo motor B 19, electricity
Machine mounting flange B 20, sealing ring B 21, turn to stand 22, leading screw 23, turn to drive block 24, bearing
End cap B 25, bogie lid 26, rolling bearing B 27 etc. form；Described DC servo motor B 19 leads to
Crossing motor mounting flange B 20 and be fixed on the side of bogie 22,26, motor B 19 is driven by output shaft
Leading screw 23 rotates, and leading screw 23 is provided with and turns to drive block 24 and by rolling bearing B 27 and bogie
22,26 connect, and leading screw 23 rotates and engages with turning to drive block 24, thus drive and turn to drive block 24 to exist
Motion in spheroid, it is achieved the divertical motion of ball shape robot.
Shown in Figure 5, hollow main shaft assembly 2 of the present invention, by rolling bearing C 28, sealing ring C 29,
Hollow main shaft 30, bearing (ball) cover C 31 form.Hollow main shaft 30 can carry for carrying mechanical arm and external equipment
For reserved mechanical interface.Hollow main shaft 30 is connected on spheroid 1 by rolling bearing C 28, turns to driving
Lead screw assembly 3 is connected with hollow main shaft 30, and linear drives gear car assembly 4 is by counterweight platform and hollow master
Axle 30 connects.
Counterweight of the present invention and electrical equipment 18, include the control module of ball shape robot, battery module, nothing
Line signal receiving module, motor drive module, counterweight module etc..
The motor process of the ball shape robot that gear car of the present invention drives is: DC servo motor A 9 drives and drives
Moving gear 13 rotates, and drives gear 13 engage with ring gear 14 and drive counterweight platform 7 to move, so that
Spheroid 1 moves along a straight line.DC servo motor B 19 drives leading screw 23 to rotate, and leading screw 23 drives with turning to
Motion block 24 engagement makes drive block 24 produce translation, so that spheroid 1 carries out divertical motion.When spheroid 1 stops
When only moving, under robot action of gravity, make the stop motion state that spheroid holding is stable.
Present invention, avoiding the general skidding driven between dolly and ball inwall, speed controlling is accurate.Hollow master
Axle can be to carry mechanical arm and the reserved mechanical interface of external equipment offer.Drive before and after employing and turn to driving two
Individual drive mechanism, the drive form that this gear car drives makes driving moment little.Robot makes ball when stable
Body keeps fixing attitude, carries mechanical arm for robot and external equipment provides convenient.
Claims (6)
1. the ball shape robot that a gear car drives, it is characterised in that: by spheroid, linear drives gear car
Assembly, turn to driving lead screw assembly, hollow main shaft assembly four part composition；Wherein, hollow main shaft assembly leads to
Crossing two rolling bearings to be connected with spheroid, the counterweight platform in linear drives gear car assembly is connected in hollow master
On shaft assembly, the gear driver part in linear drives gear car assembly is installed on below counterweight platform, drives
Moving gear engages with ring gear, and ring gear is connected with spheroid, turns to driving lead screw assembly and hollow main shaft assembly
It is connected.
The ball shape robot that a kind of gear car the most as claimed in claim 1 drives, it is characterised in that: wherein
Described spheroid is made up of upper and lower two hemisphere, and two hemisphere by boss and groove fit and pass through screw admittedly
Connect together, form an airtight spheroid, spheroid has the draw-in groove installing rolling bearing, is used for pacifying
Two rolling bearings needed for dress hollow main shaft assembly.
The ball shape robot that a kind of gear car the most as claimed in claim 1 or 2 drives, it is characterised in that:
Wherein said linear drives gear car assembly by DC servo motor A, drive gear, counterweight platform, vehicle frame,
Drive shaft, rolling bearing A, bearing (ball) cover A, sealing ring A, motor mounting flange A, ring gear form；
Described DC servo motor A is fixed on the side of vehicle frame, DC servo motor A by motor mounting flange A
Drive drive shaft to rotate by output shaft, drive shaft driving gear is installed and by two rolling bearing A and
Vehicle frame connects, and drive shaft rotates and drives driving gear rotate and engage with ring gear, thus realizes gear car
Move at sphere inner wall.
The ball shape robot that a kind of gear car the most as claimed in claim 1 or 2 drives, it is characterised in that:
Wherein said turn to driving lead screw assembly by DC servo motor B, leading screw, turn to drive block, bogie,
Rolling bearing B, bearing (ball) cover B, sealing ring B, motor mounting flange B form；Described DC servo electricity
Machine B is fixed on the side of bogie by motor mounting flange B, and DC servo motor B passes through output shaft band
Movable wire thick stick rotates, and leading screw is provided with and turns to drive block and be connected with bogie by rolling bearing B, leading screw
Rotate and engage with drive block, thus realizing drive block and move in spheroid.
The ball shape robot that a kind of gear car the most as claimed in claim 1 or 2 drives, it is characterised in that:
Wherein said hollow main shaft assembly is made up of hollow main shaft, rolling bearing C, bearing (ball) cover C, sealing ring C.
The ball shape robot that a kind of gear car the most as claimed in claim 1 or 2 drives, it is characterised in that:
In counterweight platform in linear drives gear car assembly, connect equipped with control module, battery module, wireless signal
Receive module, motor drive module, counterweight module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410838296.4A CN104670354B (en) | 2014-12-29 | 2014-12-29 | The ball shape robot that a kind of gear car drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410838296.4A CN104670354B (en) | 2014-12-29 | 2014-12-29 | The ball shape robot that a kind of gear car drives |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670354A CN104670354A (en) | 2015-06-03 |
| CN104670354B true CN104670354B (en) | 2017-01-04 |
Family
ID=53306073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410838296.4A Active CN104670354B (en) | 2014-12-29 | 2014-12-29 | The ball shape robot that a kind of gear car drives |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104670354B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054487B (en) * | 2017-03-21 | 2020-04-14 | 坎德拉（深圳）科技创新有限公司 | Spherical robot |
| CN107499405B (en) * | 2017-08-29 | 2023-12-22 | 歌尔科技有限公司 | spherical robot |
| CN108556577B (en) * | 2018-04-23 | 2020-07-14 | 西南科技大学 | Air-ground dual-purpose spherical robot |
| CN109533748B (en) * | 2018-09-05 | 2020-07-03 | 徐州康泰通讯设备有限公司 | Drum-type letter bag box |
| CN111452559A (en) * | 2019-01-18 | 2020-07-28 | 凌昕 | Single-layer universal ball with power |
| CN114966871A (en) * | 2022-05-11 | 2022-08-30 | 山东大学 | Transient electromagnetic receiving coil carrying vehicle suitable for various terrains and using method thereof |
| CN115723871B (en) * | 2022-11-01 | 2023-08-15 | 浙大城市学院 | Spherical robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3794130B2 (en) * | 1997-10-15 | 2006-07-05 | ソニー株式会社 | Spherical shell moving device |
| CN1121300C (en) * | 2001-05-28 | 2003-09-17 | 北京邮电大学 | Omnibearing walking mechanism of spherical robot |
| CN1212222C (en) * | 2002-08-22 | 2005-07-27 | 北京邮电大学 | Improved all-direction moving unit for spherical robot |
| US8768548B2 (en) * | 2009-04-10 | 2014-07-01 | The United States Of America As Represented By The Secretary Of The Navy | Spherical infrared robotic vehicle |
| CN102060060A (en) * | 2010-12-30 | 2011-05-18 | 泰山学院 | Electromagnetically-driven spherical robot |
| CN102161356B (en) * | 2011-05-09 | 2013-01-30 | 北京邮电大学 | Tridrive spherical robot |
-
2014
- 2014-12-29 CN CN201410838296.4A patent/CN104670354B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104670354A (en) | 2015-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104670354B (en) | The ball shape robot that a kind of gear car drives | |
| CN204641857U (en) | Many drivings electric children vehicle rocking equipment | |
| CN103496415A (en) | Device and use method for replenishing energy generated when bicycle runs down slope to flywheel battery | |
| CN201204530Y (en) | Permanent magnet synchronous hub motor for directly driving electric vehicle wheel | |
| CN206668807U (en) | Brake | |
| CN205113555U (en) | Qxcomm technology's balance car removes structure based on mecanum wheel | |
| CN102407855A (en) | Explosion-proof storage battery electric locomotive | |
| CN202721625U (en) | Piezoelectric power generation apparatus used for supplying electric power for track vehicle bearing monitoring system | |
| CN204196580U (en) | A kind of battery-operated motor cycle | |
| CN106853831A (en) | A kind of magnetic is got angry car | |
| CN205292674U (en) | Rotary platform | |
| CN103496425A (en) | Device and use method for replenishing energy to flywheel battery by electricity generated when bicycle runs down slope | |
| CN202985576U (en) | Drive joint of robot second arm | |
| CN103287448B (en) | Hard seat train luggage trailing frame | |
| CN203264284U (en) | Remote control toy ball | |
| CN103395369B (en) | A kind of wheel and car | |
| CN204998712U (en) | It is energy -conserving from generating electricity electric bicycle | |
| CN104843453B (en) | Remote control type electric single-rail transport device | |
| CN203864695U (en) | Wheel set and hollow shaft driving device for traction motor tests | |
| CN204736919U (en) | Be used for automobile body can universal pivoted device | |
| CN203755763U (en) | Rotary device of vehicle carrying plate for stereo garage | |
| CN202721627U (en) | Rotation type piezoelectric generator for railway vehicle shaft monitoring system | |
| CN203581166U (en) | 360-degree rotating scooter for old people | |
| CN201784457U (en) | Monorail vehicle | |
| CN203268956U (en) | Electric monorail travelling crane for car factory electric monorail transportation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |